// Start driving
misty.DriveTime(10, 0, 10000);

// Register to know when Misty discovers objects at a given distance
misty.AddPropertyTest(“FrontTOF”, “SensorPosition”, “==”, “Center”,
“string”);
misty.AddPropertyTest(“FrontTOF”, “DistanceInMeters”, “<=”, 0.2,
“double”);
misty.RegisterEvent(“FrontTOF”, “TimeOfFlight”);

// When we find an object at the distance we want, do stuff!
function _FrontTOF(data) {
   // Store the data
   let frontTOF = data.PropertyTestResults[0].PropertyParent;
   // Log where the object was detected
misty.Debug(“Distance: ” + frontTOF.DistanceInMeters);
misty.Debug( “Sensor Position: ” + frontTOF.SensorPosition);
   // Take action
misty.Stop();
misty.ChangeLED(255, 0, 0); // Red for stop
}

public void OnStart(object sender, IDictionary<string, object> parameters)
{
// Listen for ToF events
Misty.TimeOfFlightEventReceived += async (s, e) =>
{
// Filter for front center sensor
if(e.SensorPosition == TimeOfFlightPosition.FrontCenter && e.DistanceInMeters <= 0.2) {
// Send some debug messages for listening clients to consume
await Misty.SendDebugMessageAsync(“Distance: ” + e.DistanceInMeters);
await Misty.SendDebugMessageAsync(“Sensor Position: ” + e.SensorPosition);
// Take action
await Misty.StopAsync(); await Misty.ChangeLEDAsync(255, 0, 0); } }; Misty.DriveTime(10, 0, 10000, (r) =>
{
// TODO: I’ve stopped, now what?
});
}